/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2009. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "ErrorBase.h"
#include "MotorSafety.h"
#include "Resource.h"
#include "MotorSafetyHelper.h"
#include "PIDOutput.h"
#include "SpeedController.h"
#include "HAL/Semaphore.hpp"
#include "HAL/HAL.hpp"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITable.h"
#include "NetworkCommunication/CANSessionMux.h"

#include <utility>

/**
 * Luminary Micro Jaguar Speed Control
 */
class CANJaguar : public MotorSafety,
					public SpeedController,
					public ErrorBase,
					public LiveWindowSendable,
					public ITableListener
{
public:
	// The internal PID control loop in the Jaguar runs at 1kHz.
	static const int32_t kControllerRate = 1000;
	static constexpr double kApproxBusVoltage = 12.0;

	// Control mode tags
	/** Sets an encoder as the speed reference only. <br> Passed as the "tag" when setting the control mode.*/
	static const struct EncoderStruct       {} Encoder;
	/** Sets a quadrature encoder as the position and speed reference. <br> Passed as the "tag" when setting the control mode.*/
	static const struct QuadEncoderStruct   {} QuadEncoder;
	/** Sets a potentiometer as the position reference only. <br> Passed as the "tag" when setting the control mode. */
	static const struct PotentiometerStruct {} Potentiometer;

	typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode;
	typedef enum {kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8} Faults;
	typedef enum {kForwardLimit = 1, kReverseLimit = 2} Limits;
	typedef enum {
					kNeutralMode_Jumper = 0, /** Use the NeutralMode that is set by the jumper wire on the CAN device */
					kNeutralMode_Brake = 1,  /** Stop the motor's rotation by applying a force. */
					kNeutralMode_Coast = 2   /** Do not attempt to stop the motor. Instead allow it to coast to a stop without applying resistance. */
				} NeutralMode;
	typedef enum {
				/**
				 * Disables the soft position limits and only uses the limit switches to limit rotation.
				 * @see CANJaguar#GetForwardLimitOK()
				 * @see CANJaguar#GetReverseLimitOK()
				 *
				 */
					kLimitMode_SwitchInputsOnly = 0,
				/**
				 * Enables the soft position limits on the Jaguar.
				 * These will be used in addition to the limit switches. This does not disable the behavior
				 * of the limit switch input.
				 * @see CANJaguar#ConfigSoftPositionLimits(double, double)
				 */
					kLimitMode_SoftPositionLimits = 1
				} LimitMode;

	explicit CANJaguar(uint8_t deviceNumber);
	virtual ~CANJaguar();

	uint8_t getDeviceNumber() const;

	// SpeedController interface
	virtual float Get();
	virtual void Set(float value, uint8_t syncGroup=0);
	virtual void Disable();

	// PIDOutput interface
	virtual void PIDWrite(float output);

	// Control mode methods
	void EnableControl(double encoderInitialPosition = 0.0);
	void DisableControl();

	void SetPercentMode();
	void SetPercentMode(EncoderStruct, uint16_t codesPerRev);
	void SetPercentMode(QuadEncoderStruct, uint16_t codesPerRev);
	void SetPercentMode(PotentiometerStruct);

	void SetCurrentMode(double p, double i, double d);
	void SetCurrentMode(EncoderStruct, uint16_t codesPerRev, double p, double i, double d);
	void SetCurrentMode(QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d);
	void SetCurrentMode(PotentiometerStruct, double p, double i, double d);

	void SetSpeedMode(EncoderStruct, uint16_t codesPerRev, double p, double i, double d);
	void SetSpeedMode(QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d);

	void SetPositionMode(QuadEncoderStruct, uint16_t codesPerRev, double p, double i, double d);
	void SetPositionMode(PotentiometerStruct, double p, double i, double d);

	void SetVoltageMode();
	void SetVoltageMode(EncoderStruct, uint16_t codesPerRev);
	void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev);
	void SetVoltageMode(PotentiometerStruct);

	// Other Accessors
	void SetP(double p);
	void SetI(double i);
	void SetD(double d);
	void SetPID(double p, double i, double d);
	double GetP();
	double GetI();
	double GetD();
	float GetBusVoltage();
	float GetOutputVoltage();
	float GetOutputCurrent();
	float GetTemperature();
	double GetPosition();
	double GetSpeed();
	bool GetForwardLimitOK();
	bool GetReverseLimitOK();
	uint16_t GetFaults();
	void SetVoltageRampRate(double rampRate);
	virtual uint32_t GetFirmwareVersion();
	uint8_t GetHardwareVersion();
	void ConfigNeutralMode(NeutralMode mode);
	void ConfigEncoderCodesPerRev(uint16_t codesPerRev);
	void ConfigPotentiometerTurns(uint16_t turns);
	void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition);
	void DisableSoftPositionLimits();
	void ConfigLimitMode(LimitMode mode);
	void ConfigForwardLimit(double forwardLimitPosition);
	void ConfigReverseLimit(double reverseLimitPosition);
	void ConfigMaxOutputVoltage(double voltage);
	void ConfigFaultTime(float faultTime);
	ControlMode GetControlMode();

	static void UpdateSyncGroup(uint8_t syncGroup);

	void SetExpiration(float timeout);
	float GetExpiration();
	bool IsAlive();
	void StopMotor();
	bool IsSafetyEnabled();
	void SetSafetyEnabled(bool enabled);
	void GetDescription(char *desc);
	uint8_t GetDeviceID();

protected:
	// Control mode helpers

	void ChangeControlMode(ControlMode controlMode);

	void SetSpeedReference(uint8_t reference);
	uint8_t GetSpeedReference();

	void SetPositionReference(uint8_t reference);
	uint8_t GetPositionReference();

	uint8_t packPercentage(uint8_t *buffer, double value);
	uint8_t packFXP8_8(uint8_t *buffer, double value);
	uint8_t packFXP16_16(uint8_t *buffer, double value);
	uint8_t packint16_t(uint8_t *buffer, int16_t value);
	uint8_t packint32_t(uint8_t *buffer, int32_t value);
	double unpackPercentage(uint8_t *buffer);
	double unpackFXP8_8(uint8_t *buffer);
	double unpackFXP16_16(uint8_t *buffer);
	int16_t unpackint16_t(uint8_t *buffer);
	int32_t unpackint32_t(uint8_t *buffer);

	void sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
	void requestMessage(uint32_t messageID, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
	bool getMessage(uint32_t messageID, uint32_t mask, uint8_t *data, uint8_t *dataSize);

	void setupPeriodicStatus();
	void updatePeriodicStatus();

	uint8_t m_deviceNumber;
	float m_value;

	// Parameters/configuration
	ControlMode m_controlMode;
	uint8_t m_speedReference;
	uint8_t m_positionReference;
	double m_p;
	double m_i;
	double m_d;
	NeutralMode m_neutralMode;
	uint16_t m_encoderCodesPerRev;
	uint16_t m_potentiometerTurns;
	LimitMode m_limitMode;
	double m_forwardLimit;
	double m_reverseLimit;
	double m_maxOutputVoltage;
	double m_voltageRampRate;
	float m_faultTime;

	// Which parameters have been verified since they were last set?
	bool m_controlModeVerified;
	bool m_speedRefVerified;
	bool m_posRefVerified;
	bool m_pVerified;
	bool m_iVerified;
	bool m_dVerified;
	bool m_neutralModeVerified;
	bool m_encoderCodesPerRevVerified;
	bool m_potentiometerTurnsVerified;
	bool m_forwardLimitVerified;
	bool m_reverseLimitVerified;
	bool m_limitModeVerified;
	bool m_maxOutputVoltageVerified;
	bool m_voltageRampRateVerified;
	bool m_faultTimeVerified;

	// Status data
	float m_busVoltage;
	float m_outputVoltage;
	float m_outputCurrent;
	float m_temperature;
	double m_position;
	double m_speed;
	uint8_t m_limits;
	uint16_t m_faults;
	uint32_t m_firmwareVersion;
	uint8_t m_hardwareVersion;

	// Which periodic status messages have we received at least once?
	bool m_receivedStatusMessage0;
	bool m_receivedStatusMessage1;
	bool m_receivedStatusMessage2;

	bool m_controlEnabled;

	void verify();

	MotorSafetyHelper *m_safetyHelper;

	void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
	void UpdateTable();
	void StartLiveWindowMode();
	void StopLiveWindowMode();
	std::string GetSmartDashboardType();
	void InitTable(ITable *subTable);
	ITable * GetTable();

	ITable *m_table;

private:
	void InitCANJaguar();
};